The left rear abs sensor fault could be caused by the instrument cluster as well, I know it's crazy but BMW tends to have complicated wiring. More often than not the right rear speed sensor fault is the DSC module, left rear is the cluster, and the fronts are usually just the sensors...

It may be worth going to the dealer and trying a new gauge cluster for the sensor problem, then having them make sure the transmission is full of fluid (has to be topped off from underneath with engine running) then have them reset all transmission adaptations to see if it helps the shifting problems. (worth a try)

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